planner_cspace: reconstuct GridAstarModel3D only when necessary #751
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[586] FAILED on noeticTest failed[586] PASSED on noeticAll tests passed |
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## master #751 +/- ##
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- Coverage 88.68% 88.64% -0.05%
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Lines 4633 4641 +8
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at-wat
reviewed
Feb 21, 2025
| local_range_, | ||
| cost_estim_cache_.gridmap(), cm_, cm_hyst_, cm_rough_, | ||
| cc_, range_, path_interpolation_resolution_, grid_enumeration_resolution_)); | ||
| const bool reset_required = force_reset || (previous_range != range_); |
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I think the change of the map_info_ is better to be checked here instead of passing as an argument to prevent distributing the logic.
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But doing this might need larger change.
(pass new map_info, parameters as arguments of resetGridAstarModel and skip calling GridAstarModel3D::updateCostParameters when unnecessary)
So, it looks ok to merge it as is for now.
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note: path_interpolation_resolution_ and grid_enumeration_resolution_ aren't dynamic reconfigurable now
at-wat
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When the parameters of planner_3D are changed using dynamic_reconfigure, the instance of GridAstarModel3D is always reconstructed. This makes the dynamic_reconfigure response time slow when the map is large.
This PR modifies the resetGridAstarModel() function to reconstruct the instance of GridAstarModel3D only when the map is changed or the
range_parameter, which relates to the primal member variables in GridAstarModel3D, is updated.